Construct of Your Imagination
Safety Guideline Please read the following information: failure to comply with provided information may lead to voiding the warranty. This document covers safety, proper handling, and regulatory information for use of your Robotic Arm. General Precautions Caution: To avoid injury, damage to the robot or equipment, please follow the provided guidelines. 01 • Please read through the directions before starting.
Safety Guideline • Never disassemble or modify the smart servo in any way, otherwise, warranty of the product will be lost. For non-human faults or breakdown, please contact authorized distributors. • Please unplug the charging cord from the charger after charging completed to avoid overcharging. • Keep robot away from face and body when moving. • Do not use any tools other than those provided in the kit.
Safety Guideline Handling and Personal Safety Buttons • Before using, take a moment to locate the Power On/Off and directional buttons and familiarize yourself with the functions. Handling • Handle the robot with care at all times. • Pick up the robot by the bar in the event of the following situations: • If the robot comes close to danger, exposure to water, or falling off a surface. • Before the robot knocks over objects. • If the robot’s operation seems erratic.
Safety Guideline General IMPORTANT: • • • • • The robot requires a clean work space to move around and perform activities. Do not insert any foreign objects into any of the component or internal cavities. Generally, do not allow or cause the robot to fall down. Do not exert strong force against the joints or actuators (smart servos). Do not grab and pull by the head or arms/legs to prevent exerting force on the joints. Powering Please read the user manual that came with the Robotic Arm.
Safety Guideline Extension Cables CAUTION: To avoid electric shock: • Do not use multiple socket adapters or power extension cables that bypass the ground wire or disable grounding. • When using a power extension cable or a multiple socket adapter, make sure it is grounded and has sufficient current rating. No more than one extension device at a time is recommended for use.
Safety Guideline Special Procedures General • Never oil the joints with any kind of lubricant. • Do not modify or open any of the actuators. • Do not drop, crush, bend, deform, puncture, shred, microwave, incinerate any of the components. Doing so can cause fire, electric shock, damage or personal injury. • When handling sensitive components (e.g., printed circuit board), only hold the board by the edges to prevent damage due to electrostatic discharge (ESD).
Safety Guideline • If liquid has seeped inside the torso or battery casing: 1. Disconnect all cabling from the power socket then disconnect the other cabling end from the robot. 2. Turn off the robot. 3. Place the robot in the default posture. 4. Dry the robot as much as possible. 5. Disconnect and remove the battery casing. 6. Let the robot air dry completely before installing the battery casing. 7. Once completely dry, install the battery casing. 8. Turn on the robot.
Table of Contents Prerequisites.................................................................................... 10 Windows Operating System Requirements.................................................. 10 Mac Operating System Requirements.......................................................... 10 Arduino........................................................................................................ 10 Getting Started............................................................................
Table of Contents Basic Editing................................................................................................ 26 Creating a Pose..............................................................................................26 Creating a Sequence......................................................................................28 Programming the Control Panel......................................................................29 Programming the Remote Control.............................
Prerequisites Windows Operating System Requirements • Windows 7 or later. Including both 32-bit and 64-bit versions • Microsoft .Net Framework 4.5 Mac Operating System Requirements • Mac OS X 10.8 or later Arduino • Arduino IDE 1.0.
Getting Started 01 Introduction The Firmware includes a XYZrobot Editor to help you define and edit action sequences. The XYZrobot Editor is easily installed on your computer, and designed to interface with current Bolide and future models. XYZrobot Editor The XYZrobot Editor is the software included with your Robotic Arm robot package. The software is compatible with both Windows and Mac OS operating systems.
02 Setup Your Robotic Arm Setup Your Robotic Arm Requirements The following list outlines prerequisites for the installation process. 1. Assembly the Robotic Arm; see the Robotic Arm Assembly Guide. 2. Download the Firmware from www.xyzrobot.com. Overview of Installation Process Review all instructions and information prior to starting the actual installation, to avoid hardware damage, difficulty during installation, or personal injury.
Setup Your Robotic Arm 02 Installing the XYZrobot Editor Software Overview The XYZrobot Editor is designed specifically to allow for easy creation of poses and action sequences for use with the Robotic Arm. Prior to installation, you will need to have the Adruino software and the Bolide driver code installed on your computer system and MCU board, respectively. See the following section for step-by-step instructions on installing the XYZrobot Editor software.
02 Setup Your Robotic Arm A status screen displays the installation status. Once the installation is complete, the XYZrobot Editor software opens. NOTE: The default screen may not reflect your actual device. NOTE: A security prompt may display requiring authorization to open the software. To continue with the procedure, click OK to continue or cancel to end the process.
Setup Your Robotic Arm 02 Uninstalling the XYZrobot Editor To uninstall the XYZrobot Editor software, follow these step-by-step instructions. 1. Close the XYZrobot Editor. 2. On Windows, click Start > Control Panel to open the computer’s settings menu. 3. Click Uninstall a program to open the Uninstall or change a program menu. 4. Select XYZrobot Editor v1.0 from the list and click Uninstall/Change. For Mac users: 1.
02 Setup Your Robotic Arm Arduino Application Before you begin using the XYZrobot Editor, install and configure the Arduino application. The application is required to install the Robotic Arm drivers on your computer. NOTE: Prior to connecting the Robotic Arm to your computer, it may be necessary to update the USB drivers on your system. See “Installing a USB FTDI Driver” on page 44. Arduino 1.0.6 Version The Firmware supports Arduinio 1.0.6. The Firmware allows you to continue using the current 1.
Setup Your Robotic Arm 02 Installing the Robotic Arm Firmware The Robotic Arm comes with a pre-installed firmware driver. To allow you to make full use of all its features, the Robotic Arm comes with XYZrobot Editor, which allows you to create single and sequenced movement steps. The XYZrobot Editor makes use of the Arduino open-source platform, requiring the installation of Arduino on your system (if not done so at this point), and synchronizing it to your Robotic Arm. 1.
02 Setup Your Robotic Arm 5. From the menu toolbar, click Tools > Board and select the option XYZrobot-BOLIDE. 6. Next, select the COM port associated with the Robotic Arm. From the menu toolbar, click Tools > Serial Port and select the associated option. NOTE: If the device is not detected, the USB driver may not be recognized. The option to select the associated COM port will not be available. You will need to update or re-install the serial port drivers; see “USB Drivers” on page 44. 7.
03 Operations Introduction The following section provides a detailed description of the XYZrobot Editor’s interface, including stepby-step instructions on the creation of poses and action sequences for use with the Robotic Arm robot. Interface Menus Main Menu The main interface as described in the following figure is the initial display viewed when the XYZrobot Editor is opened. The following table provides a description of the menu names and a brief description of their function.
03 Operations No 5 Item Connection Status 6 7 Description bar Configuration Area Description If a Robotic Arm device is detected, the dialogue displays a device connected status. The dialogue displays text description of the last initiated action. The configuration area displays the actual position of each smart servo, as well as editing functions to allow you to create unique movement and sequence definitions. See “Main Menu” on page 19.
03 Operations Pose Editor 10 9 1 No 1 2 3 4 5 Item Pose list Rename Remove Add Live Pose Update 6 Set 7 Capture 8 Relax 7 6 5 4 3 2 Description Displays the list of all created pose descriptions. Rename the selected pose. Remove the selected pose. Create a new pose item. Initiate to adjust the smart servo positions directly. Each setting adjustment directly moves the smart servo position. WARNING: The Live Pose Update allows you to directly adjust the smart servo position.
03 No 9 Item Smart servo ID Operations Description Click to move the slide bar and change the smart servo’s actual position. By default, the neutral position is set at 512. A reading of 0 sets the desired position to 0° degrees, while a reading of 1023 defines a 330° turn. 10 Slide bar NOTE: The function is only accessible when a project is connected and a pose is selected. Move the slide bar to manually adjust the actual position of the smart servo.
03 Operations Sequence Editor 1 2 3 4 5 6 7 8 9 15 Item Sequence list Add Remove Rename Pose list Delete Move down Pose Delay (ms) 10 11 12 13 14 15 Move up Add Halt Loop Run Relax 13 12 11 10 Description List the sequences. Create a new sequence list. Remove the selected sequence. Rename the selected sequence. List the pose entries for the selected sequence. Delete the selected pose from the sequence. Move the order of the selected pose down in the order.
03 Operations Sample Player 1 2 6 No 1 2 3 4 5 6 Item Sample sequence Sample pose Halt Loop Run Relax 5 4 3 Description Select a sequence entry to initiate the action sequences on the robot. Select a pose entry to initiate the action on the robot. Initiate a stop command when a sequence is running. Initiate a continuous run command for the selected sequence. Initiate a run command for the selected sequence.
Operations 03 Control Editor 3 1 4 5 No 1 3 4 Item Robot button setting Remote control setting Music path Music File 5 Action list type 6 Action list 2 6 Description Click a drop-down menu to select the action entry to associate with the control panel button. Click a drop-down menu to select the action entry to associate with the remote control button. Click Search to select the folder path for the audio source.
03 Operations Basic Editing The XYZrobot Editor provides a simple and effective method to create, edit and remove pose and sequence entries. The following section provides step-by-step instructions for creating complete pose and sequence entries. Creating a Pose Before you open the XYZrobot Editor, it is necessary to connect the Robotic Arm and computer through a USB cable. The following procedure provides detailed instructions to allow you to create a pose: 1. Connect the Robotic Arm to your computer.
Operations 03 11. Select Tool > Pose Editor. 12. Under Pose List, click Add to create a new pose. 13. The New pose settings window displays. In the Pose name field, enter a name for the pose and click Ok to create the new entry. The New Pose is configured with the default settings. This function allows you to create pose entries which can be modified and saved, and used to create sequence entries. 14. Now that the pose is created, it appears in the Pose List column.
03 Operations Creating a Sequence Follow the procedure to create a sequence: 1. Connect the Robotic Arm to your computer. Connect one end of a USB cable to the computer (USB Type A), and the other end to the Robotic Arm (USB Type Mini-B). 2. Power up the Robotic Arm; see “Testing the Robotic Arm” in the Assembly Manual. 3. Locate and open the XYZrobot Editor application. 4. From the toolbar select Tool > Sequence List. 5. Click Add to create a new sequence entry.
Operations 03 Programming the Control Panel You can customize the buttons on the control panel by designating default or custom action sequences. Before starting make sure you have already defined any custom sequences, see “Sequence Editor” on page 23. 1. Open XYZrobot Editor. 2. Select Tool > Control editor. The control editor screen displays. 3. In the Music path field, click Search to select the source directory for audio source. Only WAV formats are supported. 4.
03 Operations Programming the Remote Control You can customize the buttons on the remote control by designating default or custom action sequences. Before starting, make sure you have already defined any custom sequences; see “Sequence Editor” on page 23. 1. Open XYZrobot Editor. 2. Select Tool > Control editor. The control editor screen displays. 3. In the Music path field, click Search to select the source directory for audio source. Only WAV formats are supported. 4.
Operations 03 Creating an AVR Format After customizing control panel buttons or remote control, select Tool > Export to AVR to save a .h file for Arduino. The exporting function allows you to compile the sequenced information into a compiled AVR file, which turns the information into readable Arduino code. The file can be uploaded to the Arduino software library for editing, see “Installing Robotic Arm Default Firmware” on page 31.
03 Operations 5. From the menu toolbar, click Tools > Board and select the option XYZrobot-BOLIDE. 6. Next, select the COM port associated with the Robotic Arm. From the menu toolbar, click Tools > Serial Port and select the associated option. NOTE: If the device is not detected, the USB driver may not be recognized. The option to select the associated COM port will not be available. You will need to update or re-install the serial port drivers, see “USB Drivers” on page 44. 7.
Operations 03 Advanced Editing The Advanced Editing feature provides a method for configuring the buttons on the control panel and remote control. Once you’ve created a pose and sequence list using the XYZrobot Editor, you can save the list to an AVR format (see “Basic Editing” on page 26). The AVR file is necessary to cross reference and synchronize the pose definition library to the remote controller and buttons on the control panel.
03 Operations 6. Locate the Bolide software pack and navigate to the following folder: 7. Bolide_Y-01_Arduino_Support_File_20151201\Bolide_Y-01_UserMotion (For the latest software visit http://www.xyzrobot.com) In the same folder, locate and open RCK100_6DOF_Wheel.ino file. 8. Three main tabs display. Click the OTHERS_USER_MOTION.h tab. 9. In the file body, locate the line section named //===== User Define Pose ====== or //===== User Define Sequence ======. 10.
Operations 03 Programming the Control Panel In the previous section you created an AVR file which contained the pose and sequence reference entries. The defined entries serve as the basis for the programming of the functions for each control panel button. You can customize the buttons on the control panel with the use of the XYZrobot Editor or the Arduino application. Customizing the control panel is explained further in the following section.
03 11. Click Operations (Verify) to compile the entries. After compiling, the message Done compiling displays on the bottom of the frame. If there are no errors and the compiling is complete, upload the code to the Robotic Arm board. 12. Click (Upload) to upload the codes. After uploading, the message Done uploading displays and no error on the bottom of the frame. After uploading, use the button on the control panel to perform user action. 13. Click File > Save to save the file.
Operations 03 7. In this step, you will modify the RCU_LJU definition, see the following image. 8. Sequence U_s1 was previously defined as ActionNo_1, see “Before You Start” on page 33. Change the RCU_LJU sequence to 1. //=== Remote Control ==== #define RCU_LJU 1 #define RCU_LJL 0 #define RCU_LJD #define RCU_LJR #define RCU_RJU #define RCU_RJD #define RCU_RJL #define RCU_RJR #define RCU_L1 #define RCU_L2 #define RCU_L3 #define RCU_R1 #define RCU_R2 #define RCU_R3 9.
03 Operations Remote Control Button Mapping 14 13 10 9 12 L3 R3 1 L2 R2 L1 R1 11 2 3 4 7 8 6 RELEASE No. 1 4 7 10 13 Item RCU_R3 RCU_RJU RCU_RJL RCU_LJU RCU_L2 5 No. 2 5 8 11 14 Item RCU_R2 RCU_RJR RCU_LJD RCU_LJR RCU_L3 No.
03 Operations Programming the Wheels NOTE: The following procedure is only available for the Robotic Arm 6DW model. You can customize the wheel control with the sequences you created in XYZrobot Editor with the use of the Arduino application. Customizing Wheels on Arduino To program a wheel control to a sequence: 1. Before starting this procedure, see “Before You Start” on page 33. 2. Connect the Robotic Arm to your computer.
03 Operations External Applications Introduction Controlling your Robotic Arm is not limited to the remote control or the control panel. XYZprinting Inc. has designed and made available an APP for smart devices, making it possible for you to enjoy full control of your Robotic Arm. The APP is available on iOS and Android. To download your respective app, in Google Play or the APP Store use the keyword XYZrobot to locate and download the latest Robotic Arm application.
Mechanical Components 04 Additional Components Adapters 41 Power cables may vary depending on regional requirements.
04 Mechanical Components Control Panel NOTE: The Robotic Arm 6DW model was used for the following procedure. Other models may be different. The control panel consists of the power switch button along with four function buttons found just above the battery; see the following illustration. The function buttons are pre-programmed for a specific action. They can also be manually programmed for personalized preferences. 1. Power switch 2. Function button 1 3. Function button 2 4. Function button 3 5.
05 Maintenance LED Codes Definition List For the LED position, please refer to the Robotic Arm Assembly Manual. Eye LED The LEDs located on the eye sockets indicate the following states: • Power on: sequentially blinks red, green and blue. • Connection to remote control: sequentially blinks red, green and blue. Chest LED Power on/control: LED blinks in sequence (Red, Green and Blue).
05 Maintenance USB Drivers Installing a USB FTDI Driver The USB driver may require updating or re-installing when the Robotic Arm device is not recognized by your operating system. The following section provides step-by-step instructions of the installation procedure on a Windows operating system. 1. 2. Download the driver file and extract it to your hard drive, somewhere you can find it. You first need to uninstall the incorrect drivers on your computer.
Troubleshooting 06 I can’t connect my robot to the PC. 1. Open Device Manager on Windows. 2. When the product is connected to the PC, please check whether the connected device’s port is found. If the port is not detected, you may need to install an FTDI serial driver. If you have problems with other products, or can’t solve the problem with the instructions above, please contact your regional manager. The Arduino displays “Done uploading” but still displays an error message the burn program process.
